Velocity direct
In Velocity direct mode, the EL70x7 operates in the cyclic velocity interface. A defined velocity can be set via the STM Velocity variable.
Prerequisites
- This mode can be used with a connected encoder or with the internal counter (without encoder).
- The process data can be transferred with TwinCAT NC or directly from the PLC.
Step by Step
- Add the terminal to the configuration as described in the section TwinCAT configuration settings – manual or – Online scan.
- Link the terminal with the NC as described in section Integration into the NC configuration (if TwinCAT NC is used).
- Configure the EL70x7
- automatically - import the XML motor file into the startup directory as described in section Settings in the CoE - automatic.
- manually - configure the parameters as described in section Settings in the CoE - manual.
- Set the operating mode in the CoE directory to Velocity direct, Fig. "Velocity direct mode".
- Under Predefined PDO Assignments select Velocity control, Velocity control compact or Velocity control compact with info data, Fig. "Predefined PDO Assignment: Velocity control compact".
- Activate the configuration (Ctrl+Shift+F4).
- Run through the State Machine of the terminal. Here you have two options.
- If you use the TwinCAT NC.
The State Machine is run through automatically by the NC. You can enable the axis in the "Online" tab of the axis.
Tick all options and set override to 100% (see Fig. "Enabling the axis in the NC"). The axis is then ready. - If you don’t use the TwinCAT NC.
In this case you must run through the State Machine manually. Set the variable 0x7010:01 Enable to 1 (TRUE), Fig. "Enabling the axis manually". - A defined velocity can be entered via the cyclic variable STM velocity (Fig. "Entering the velocity").
The speed is specified in % of the speed range (index 0x8012:05). The value + 32767 corresponds to 100 %, the value -32767 corresponds to -100 %.
